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Realisation of a safety-cage with integrated force sensing for interactive aerial robots

Zonneveld, Thomas van (2018) Realisation of a safety-cage with integrated force sensing for interactive aerial robots.

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Abstract:Most commonly, aerial robots are not intended for physical interaction with their environment. Yet, the potential of interaction with these vehicles is large and thus the area of physical interaction between aerial vehicles and their environment is an active and interesting research topic. In the presented research, force sensors have been designed by means of strain gauges. A safety cage is realised where these force sensors are integrated, being able to provide useful information regarding interaction forces acting on the entire drone. By first analysing different layouts of strain gauges and strain gauge characteristics, a final design for a force sensor is proposed. Different designs regarding the placement of these sensors have been analysed in order to propose a final set-up of sensors. With this final set-up in mind, a 3D-design of a safety cage is realised in where these sensors are implemented. Tests with the designed force sensors have been performed and analysed by comparing the results to a commercial 6D force/torque sensor. Results propose a potentially accurate and sensitive system, yet noise, temperature effects and hysteresis are apparent and significantly reduce the accuracy of the sensors.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology
Programme:Electrical Engineering BSc (56953)
Link to this item:http://purl.utwente.nl/essays/75255
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